WO2013045669A1 - Véhicule sous-marin autonome servant à des prospections sismiques marines - Google Patents

Véhicule sous-marin autonome servant à des prospections sismiques marines Download PDF

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Publication number
WO2013045669A1
WO2013045669A1 PCT/EP2012/069275 EP2012069275W WO2013045669A1 WO 2013045669 A1 WO2013045669 A1 WO 2013045669A1 EP 2012069275 W EP2012069275 W EP 2012069275W WO 2013045669 A1 WO2013045669 A1 WO 2013045669A1
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WIPO (PCT)
Prior art keywords
auv
seismic
vessel
water
eject
Prior art date
Application number
PCT/EP2012/069275
Other languages
English (en)
Inventor
Thierry Brizard
Alice HERVE
Jonathan GRIMSDALE
Robert Dowle
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Cggveritas Services Sa
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Cggveritas Services Sa filed Critical Cggveritas Services Sa
Priority to EP21157449.6A priority Critical patent/EP3875360A1/fr
Priority to EP12778058.3A priority patent/EP2760732B1/fr
Publication of WO2013045669A1 publication Critical patent/WO2013045669A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
    • B63C11/36—Diving chambers with mechanical link, e.g. cable, to a base of closed type
    • B63C11/42—Diving chambers with mechanical link, e.g. cable, to a base of closed type with independent propulsion or direction control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/08—Propulsion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14—Control of attitude or depth
    • B63G8/16—Control of attitude or depth by direct use of propellers or jets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14—Control of attitude or depth
    • B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
    • G01V1/24—Recording seismic data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
    • G01V1/38—Seismology; Seismic or acoustic prospecting or detecting specially adapted for water-covered areas
    • G01V1/3843—Deployment of seismic devices, e.g. of streamers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
    • G01V1/38—Seismology; Seismic or acoustic prospecting or detecting specially adapted for water-covered areas
    • G01V1/3843—Deployment of seismic devices, e.g. of streamers
    • G01V1/3852—Deployment of seismic devices, e.g. of streamers to the seabed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
    • G01V1/38—Seismology; Seismic or acoustic prospecting or detecting specially adapted for water-covered areas
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
    • G01V1/38—Seismology; Seismic or acoustic prospecting or detecting specially adapted for water-covered areas
    • G01V1/3817—Positioning of seismic devices
    • G01V1/3835—Positioning of seismic devices measuring position, e.g. by GPS or acoustically

Definitions

  • Embodiments of the subject matter disclosed herein generally relate to methods and systems and, more particularly, to mechanisms and techniques for performing a marine seismic survey using autonomous underwater vehicles (AUVs) that carry appropriate seismic sensors.
  • UUVs autonomous underwater vehicles
  • Marine seismic data acquisition and processing generate a profile (image) of a geophysical structure under the seafloor. While this profile does not provide an accurate location of oil and gas reservoirs, it suggests, to those trained in the field, the presence or absence of these reservoirs. Thus, providing a high- resolution image of the geophysical structures under the seafloor is an ongoing process.
  • Reflection seismology is a method of geophysical exploration to determine the properties of earth's subsurface, which are especially helpful in the oil and gas industry. Marine reflection seismology is based on using a controlled source of energy that sends the energy into the earth. By measuring the time it takes for the reflections to come back to plural receivers, it is possible to evaluate the depth of features causing such reflections. These features may be associated with subterranean hydrocarbon deposits.
  • a traditional system for generating the seismic waves and recording their reflections off the geological structures present in the subsurface is illustrated in Figure 1 .
  • a vessel 10 tows an array of seismic receivers 1 1 provided on streamers 12.
  • the streamers may be disposed horizontally, i.e., lying at a constant depth relative to a surface 14 of the ocean.
  • the streamers may be disposed to have other than horizontal spatial arrangements.
  • the vessel 10 also tows a seismic source array 16 that is configured to generate a seismic wave 18.
  • the seismic wave 18 propagates downwards toward the seafloor 20 and penetrates the seafloor until eventually a reflecting structure 22 (reflector) reflects the seismic wave.
  • the reflected seismic wave 24 propagates upwardly until it is detected by the receiver(s) 1 1 on the streamer(s) 12. Based on the data collected by the receiver(s) 1 1 , an image of the subsurface is generated by further analyses of the collected data.
  • the seismic source array 16 includes plural individual source elements.
  • the individual source elements may be distributed in various patterns, e.g., circular, linear, at various depths in the water.
  • Figure 2 shows a vessel 40 towing two cables 42 provided at respective ends with deflectors 44.
  • Plural lead-in cables 46 are connected to streamers 50.
  • the plural lead-in cables 46 also connect to the vessel 40.
  • the streamers 50 are maintained at desired separations from each other by separation ropes 48.
  • Plural individual source elements 52 are also connected to the vessel 40 and to the lead-in cables 46 via ropes 54.
  • a sensor 70 (see Figure 4) is removably attached to a pedestal 72 together with a memory device 74. After recording the seismic waves, the sensor 70 together with the memory device 74 are instructed by a vessel 76 to detach from the pedestal 72 and to surface at the ocean surface 78 to be picked up by the vessel 76.
  • an autonomous underwater vehicle for recording seismic signals during a marine seismic survey.
  • the AUV includes a body having a flush shape; an intake water element located on the body and configured to take in water when deployed underwater; at least one propulsion nozzle located at a tail or on a side of the body and configured to eject the water from the intake water element for actuating the AUV; at least one guidance nozzle located on the body and configured to eject water to change a travelling direction of the AUV; and a seismic payload located on the body of the AUV and configured to record seismic signals.
  • the AUV includes a body having a smooth shape; a propulsion system located inside the body and having openings on a surface of the body for absorbing and ejecting water; a guidance system located inside the body and configured to change a position of a nose or a tail of the body while traveling underwater; and a seismic payload located on the body of the AUV and configured to record seismic signals.
  • a method for recording seismic data with a seismic sensor located on an underwater autonomous vehicle includes a step of providing the AUV with a seismic sensor; a step of launching the AUV into water; a step of steering the AUV based on an inertial navigation and/or acoustic system to a desired seabed location; a step of recording the seismic data; a step of returning the AUV on a vessel; and a step of transferring the seismic data from the AUV to the vessel while on board of the vessel.
  • Figure 1 is a schematic diagram of a conventional seismic survey system
  • Figure 2 illustrates a traditional arrangement of streamers and source arrays towed by a vessel
  • Figure 3 is a schematic diagram of a station that may be positioned on the bottom of the ocean for seismic data recording;
  • Figure 4 is a schematic diagram of another station that may be positioned on the bottom of the ocean for seismic data recording;
  • FIG. 5 is a schematic diagram of an AUV according to an exemplary embodiment
  • FIG. 6 is a schematic diagram of another AUV according to an exemplary embodiment
  • FIG. 7 is a schematic diagram of still another AUV according to an exemplary embodiment
  • Figure 8 is a cross-sectional view of an AUV according to an exemplary embodiment
  • Figure 9 is a schematic diagram of a vessel for deploying and/or recovering an AUV according to an exemplary embodiment
  • Figure 10 is a schematic diagram of a process for deploying and recovering AUVs according to an exemplary embodiment
  • Figure 1 1 is a flowchart of a method for recycling AUVs during a seismic survey according to an exemplary embodiment
  • Figure 12 is a schematic diagram of an AUV according to another exemplary embodiment
  • Figure 13 is a schematic diagram of an AUV according to still another exemplary embodiment.
  • Figure 14 is a flowchart of a method for deploying and recovering an AUV during a seismic survey.
  • such a seismic system includes plural AUVs each having one or more seismic sensors.
  • the seismic sensors may be one of a hydrophone, geophone, accelerometers, electromagnetic sensors, etc. If an electromagnetic sensor is used, then a source that emits electromagnetic waves may be used instead or in addition to an acoustic source.
  • the AUV may be a specially designed device or an off-the-shelf device so that it is inexpensive. The off-the-shelf device may be quickly retrofitted or modified to include the seismic sensors and necessary communication means to be discussed later.
  • a deployment vessel stores the AUVs and launches them as necessary for the seismic survey.
  • the AUVs find their desired positions using, for example, an inertial navigation system.
  • the AUVs may be preprogrammed or partially programmed to find their desired positions. If the AUV are partially programmed, the final details for finding the desired position may be received, acoustically, from the vessel when the AUV is launched from the vessel.
  • a deployment vessel or a recovery vessel It is noted that these vessels may be identical from an equipment point of view. However, the vessels may be operated as a recovery vessel or as a deployment vessel. In other words, a recovery vessel may be instructed, after having enough AUVs on board, to become a deployment vessel, and the other way around.
  • a vessel that might be the recovery vessel, the launching vessel or both of them.
  • a shooting vessel may follow the deployment vessel for generating seismic waves.
  • the shooting vessel may tow one or more seismic source arrays.
  • the shooting vessel or another vessel, e.g., the recovering vessel, may then instruct selected AUVs to resurface so that they can be collected.
  • the deployment vessel also tows source arrays and shoots them as it deploys the AUVs.
  • only the deployment vessel is configured to retrieve the AUVs.
  • a dedicated recovery vessel may wake-up the AUVs and instruct them to return to the surface for recovery.
  • the number of AUVs is in the
  • the deployment vessel is configured to hold all of them at the beginning of the survey and then to launch them as the seismic survey is advancing. If the shooting vessel is configured to retrieve the AUVs, when the number of available AUVs at the deployment vessel is below a predetermined threshold, the shooting vessel and the deployment vessel are instructed to switch positions in the middle of the seismic survey. If a dedicated recovery vessel is used to recover the AUVs, then the deployment vessel is configured to switch positions with the recovery vessel when the deployment vessel becomes empty. In another exemplary embodiment, both vessels are full with AUVs. The first one starts deploying the AUVs and the second one just follow the first one. Once the first one has deployed most or all the AUVs, this vessel becomes the recovery vessel and the second one starts deploying AUVs, thus becoming the deployment vessel. Later, the two vessel may switch functions as necessary.
  • the seismic survey is performed as a combination of seismic sensors of the AUVs and seismic sensors of streamers towed by the deployment vessel, or the shooting vessel or by both of them.
  • AUVs when selected AUVs are instructed to surface, they may be programmed to go to a desired rendezvous point where they will be collected by the shooting vessel or by the deployment vessel or by the recovery vessel.
  • the selected AUVs may be chosen to belong to a given row or column if a row and column arrangement is used.
  • the shooting or/and deployment or recovery vessel may be configured to send acoustic signals to the returning AUVs for guiding them to the desired position.
  • the AUVs may be configured to rise to a given altitude, execute the return back path at that altitude and then surface for being recovered.
  • the AUVs are configured to communicate among them so that they follow each other in their path back to the recovery vessel or they communicate among them to establish a queuing line for being retrieved by the shooting or recovery or deployment vessel.
  • the AUVs are checked for problems, their batteries may be recharged or replaced and the stored seismic data may be transferred to the vessel for processing.
  • the recovery vessel may store the AUVs on deck during the maintenance phase or somewhere inside the vessel, e.g., inside of a module, closed or open, that is fixed on the vessel or the vessel's deck .
  • the mechanism may be designed to recover the AUVs on one side of the vessel, when the vessel is used as a recovery vessel, and to launch the AUVs on another side of the vessel when the vessel is used as a deployment vessel. After this maintenance phase, the AUVs are again deployed as the seismic survey continues.
  • the AUVs are continuously deployed and retrieved.
  • the AUVs are configured to not transmit the seismic data to the deployment or recovery or shooting vessel while performing the seismic survey. This may be advantageous as the electric power available on the AUV may be limited.
  • each AUV has enough electric power (stored in the battery) to only be once deployed, record seismic data and resurface to be retrieved. Thus, reducing the data transmission amount between the AUV and the vessel while the AUV is underwater conserves the power and allows the AUV to be retrieved on the vessel before running out of power.
  • FIG. 5 illustrates an AUV 100 having a body 102 to which one or more propellers 104 are attached.
  • a motor 106 is provided inside the body 102 for activating the propeller 104.
  • the motor 106 may be controlled by a processor 108.
  • the processor 108 may also be connected to a seismic sensor 1 10.
  • the seismic sensor 1 10 may have such a shape that when the AUV lands on the seabed, the seismic sensor achieves a good coupling with the sediments on the seabed.
  • the seismic sensor may include one or more of a hydrophone, geophone, accelerometer, etc.
  • the seismic sensor 1 10 includes three accelerometers and a hydrophone, i.e., a total of four sensors.
  • the seismic sensor may include three geophones and a hydrophone.
  • other combinations of sensors are possible.
  • a memory unit 1 12 may be connected to the processor 108 and/or the seismic sensor 1 10 for storing seismic data recorded by the seismic sensor 1 10.
  • a battery 1 14 may be used to power up all these components. The battery 1 14 may be allowed to change its position along a track 1 16 to change a center of gravity of the AUV.
  • the AUV may also include an inertial navigation system (INS) 1 18 configured to guide the AUV to a desired location.
  • An inertial navigation system includes at least a module containing accelerometers, gyroscopes, or other motion- sensing devices.
  • the INS is initially provided with the position and velocity of the AUV from another source, for example, a human operator, a GPS satellite receiver, another INS from the vessel, etc., and thereafter, the INS computes its own updated position and velocity by integrating (and optionally filtrating) information received from its motion sensors.
  • the advantage of an INS is that it requires no external references in order to determine its position, orientation, or velocity once it has been initialized. Further, the usage of the INS is inexpensive.
  • the AUV may include a compass 120 and other sensors 122, as for example, an altimeter for measuring its altitude, a pressure gauge, an interrogator module, etc.
  • the AUV 100 may optionally include an obstacle avoidance system 124 and a communication device 126 (e.g., wi-fi device) or other data transfer device that is capable to wirelessly transfer data.
  • a communication device 126 e.g., wi-fi device
  • the AUV further includes an antenna 128 (which may be flush with the body of the AUV) and a corresponding acoustic system 130 for communicating with the deploying, recovery or shooting vessel.
  • Stabilizing fins and/or wings 132 for guiding the AUV to the desired position may be used together with the propeller 104 for steering the AUV.
  • the AUV may include a buoyancy system 134 for controlling a depth of the AUV and also not moving once the AUV has landed.
  • the acoustic system 130 may be an Ultra-short baseline (USBL) system, also sometimes known as Super Short Base Line (SSBL). This system uses a method of underwater acoustic positioning.
  • USBL Ultra-short baseline
  • SSBL Super Short Base Line
  • a complete USBL system includes a transceiver, which is mounted on a pole under a vessel, and a
  • a processor is used to calculate a position from the ranges and bearings measured by the transceiver. For example, an acoustic pulse is transmitted by the transceiver and detected by the subsea transponder, which replies with its own acoustic pulse. This return pulse is detected by the transceiver on the vessel. The time from the transmission of the initial acoustic pulse until the reply is detected is measured by the USBL system and is converted into a range. To calculate a subsea position, the USBL calculates both a range and an angle from the transceiver to the subsea AUV. Angles are measured by the transceiver, which contains an array of transducers. The transceiver head normally contains three or more transducers separated by a baseline of, e.g., 10 cm or less.
  • Figure 6 shows another AUV 200 that can be used for seismic surveys.
  • the AUV 200 has a body 202 in the shape of a submarine.
  • a water intake element 206 may be provided at a nose 204 of the AUV or at another part of the AUV.
  • one or more guidance nozzles may be provided on the nose 204.
  • Figure 6 shows three guidance nozzles, one nozzle 210 located on top of the nose 204 and two nozzles 208 and 212 located on the sides of the nose 204. These guidance nozzles may be used to steer the AUV as needed.
  • an impeller or water pump 213 water may be provided inside the AUV for taking in water through the intake element or one of the guidance nozzles and then to expel the water through one or more of the guidance nozzles 208, 210 and 212 for changing the direction of the AUV based on momentum conservation.
  • Another possibility is to have some valves instead of the water pump 213 that allow water entering the water intake element 206 to exit one or more of the guidance nozzles 208, 210 and 212 as desired.
  • Those skilled in the art could imagine other mechanisms for steering the AUV.
  • the AUV of Figure 6 may have two propulsion nozzles 220 and 222 at a tail region 224. One or more than two nozzles may also be used.
  • a water pump 216 may be connected to the propulsion nozzles 220 and 222 for expelling the water through them.
  • a valve 226 may be installed to control how much of the intake water is provided to each of the
  • propulsion nozzles 220 and 222 are direct the entire water stream to only one propulsion nozzle.
  • another water intake element may be used, for example, a water intake element 228 located on the body 202 of the AUV.
  • the pumps and valves are connected to the processor 108 so that control of the AUV can be achieved by the INS.
  • Some or all the elements shown inside the AUV 100 in Figure 5 may be present inside the AUV 200.
  • the antenna 128, if present, is provided inside the body 202 of the AUV so that the AUV 200 is flush, i.e., it has no parts that stick out of the body 202.
  • an AUV 300 also has a submarine type body with no elements coming out of the body 302.
  • the AUV 300 has a propulsion mechanism that includes an intake water element 304 and two propulsion nozzles 306 and 308.
  • Appropriate piping 310 and 312 connects the intake water element 304 to the propulsion nozzles 306 and 308 through an inside of the AUV.
  • Impellers 314 and 316 may be located in each pipe and connected to corresponding DC motors 314a and 316a, for forcing the water received from the intake water element 304 to exit with a controlled speed or volume at the propulsion nozzles 306 and 308.
  • the two DC motors may be brushless motors and they may be connected to the processor 108 for controlling a speed of the impellers.
  • the impellers may be controlled independently one from the other. Also, the impellers may be controlled to rotate in opposite directions (e.g., impeller 314 clockwise and impeller 316 counterclockwise) for increased stability of the AUV.
  • guidance nozzles 320a-c may be provided on the bow part 322 of the AUV as shown in Figure 7.
  • the guidance nozzles 320a-c may be distributed on the sides or corners of a triangle that lays in a plane perpendicular to a longitudinal axis X of the AUV 300.
  • One or three pump jets 324a-c may be also provided inside the body 302 for ejecting water through the guidance nozzles. In this way, a position of the bow of the AUV may be modified/changed while the AUV is moving through the water.
  • a cross-section of the AUV may be circular.
  • the cross-section of the AUV is close to a triangle. More specifically, Figure 8 shows a triangle 330 having round corners 332.
  • This shape may be advantageous when deploying or recovering the AUV on the vessel.
  • the launching (and/or recovery) device 340 of the vessel may have a similar triangular shape and also rolling elements 342a-c that are configured to rotate such that the AUV is lifted from the water into the vessel or lowered from the vessel into the sea.
  • the rolling elements 342a-c may be located on the launching device 340 so that there is enough contact with the AUV that the AUV does not slip downward when the rolling elements push the AUV upward.
  • Other shapes may be imagined that could be handled by a launching device.
  • a communication between the AUV and a vessel may take place based on various technologies, i.e., acoustic waves, electromagnetic waves, etc. According to an exemplary
  • an acoustic underwater positioning and navigation (AUPN) system may be used.
  • the AUPN system may be installed on any one of the participating vessels and may communicate with the acoustic system 130 of the AUV.
  • the AUPN system may exhibit high accuracy and long range
  • AUPN is a hydro-acoustic Super Short Base Line - SSBL or USBL, tow tracking system, able to operate in shallow and deepwater areas to proven ranges in excess of 3000 meters. It is a multi-purpose system used for a wide range of applications including towfish and towed platform tracking, high accuracy subsea positioning and telemetry and scientific research.
  • the AUPN is used to determine the AUV position.
  • the actual AUV's position is measured with the AUPN and is then provided to the AUV, while moving to its desired position, to correct its INS trajectory.
  • a vessel for deploying and/or retrieving AUVs may be configured according to an exemplary embodiment illustrated in Figure 9.
  • a vessel 400 includes a deploying mechanism 402 and a recovery mechanism 404. Both the deploying and recovery mechanisms may include a corresponding chute 406 or 408.
  • its chute 408 may have a funnel shape and may be deployed under water or at the surface water level.
  • One or more beacons 410 may be located on a rim of the chute 408 for directing an AUV 420 inside the chute.
  • the recovered AUV 420 may engage a conveyor belt mechanism 422 or another hooking mechanism.
  • the conveyor belt mechanism 422 may be configured to take the AUV 420 to a maintenance area 424.
  • the maintenance area, inside the vessel 400 may have one or more parallel tracks 424a-c that split from a main track 426. Each track 424a-c takes corresponding AUVs 420 to appropriate maintenance locations.
  • operators or robots may change or recharge the battery of the AUV, if depleted, and also may remove the memory unit of the AUV that stores the recorded seismic data.
  • a new memory unit may be provided to the AUV.
  • the memory is connected to a vessel memory unit 430 through a cable or a wireless interface and the data is transferred from the AUV's memory unit to the vessel's memory unit 430.
  • FIG. 10 shows a seismic system 500 that includes a deployment vessel 502 and a recovery vessel 504.
  • the deployment vessel 502 is tasked to deploy AUVs 506 while the recovery vessel 504 is tasked to recover AUVs 508.
  • dedicated shooting vessels 510 and 512 follow their own path and generate acoustic waves.
  • the recovery vessel 504 is tasked to recover AUVs 508.
  • FIG. 10 shows two shooting vessels, those skilled in the art would appreciate that one or more than two shooting vessels may be used. In another application, the
  • deployment and recovery vessels operate continuously. When the deployment vessel is empty, it switches positions with the recovery vessel. The shooting of the sources may continue while the deployment and recovery vessels switch positions.
  • step 1 100 the AUV is prepared for launching.
  • This preparation phase i.e., conditioning the AUV if launched for the first time or reconditioning the AUV if recycled, may include one or more of charging the batteries, downloading seismic data, checking the system, etc.
  • the mission data for that specific AUV is loaded in its processor. This step may take place while the AUV is on the deck of the vessel or the AUV is already loaded in its launching tube or ramp.
  • the mission data may include the present position of the AUV, the final desired position on the bottom of the ocean, and other parameters.
  • the AUV is launched in step 1 104.
  • the AUV is configured to use its INS (or acoustic communication or INS combined with acoustic communication) and the uploaded mission data to travel to its final destination. In one application, the AUV does not receive any information from the vessel while travelling.
  • the AUV may receive additional information from the vessel, for example, its current position as measured by the AUPN of the vessel.
  • beacons may be used to guide the AUV.
  • some of the already deployed AUV may function as beacons.
  • step 1 106 after the AUV have settled to the seabed, the vessel interrogates the AUV about its position.
  • the AUV responds by sending a reference beam and the AUPN of the vessel determines the position of the AUV.
  • the position of the AUV may be determined with an accuracy of, for example, +/- 2 m when the AUV is at a depth not larger than 300 m.
  • step 1 106 may be performed between steps 1 104 and 1 108, or between steps 1 108 and 1 1 10 or at the beginning of step 1 1 10 or both.
  • the AUV is ready to record seismic signals in step 1 108. This process may last as long as necessary.
  • the AUV is instructed in step 1 1 10, for example, using the AUPN of the recovery vessel to wake-up and start resurfacing.
  • the AUV starts its motor and moves towards the recovery vessel (the AUV can move in the direction of the recovery catcher, but the relative speed will be high, thus, the AUV may also move in the same direction as the boat, but slower, so that the relative speed is more reasonable, and the AUV can actively position itself to be catched by the catcher when the time is proper).
  • the recovery vessel is the same with the deployment vessel.
  • the AUV is helped to arrive at the recovery vessel by acoustic signals emitted by the recovery vessel.
  • the AUV engages the recovery unit (e.g., chute) of the recovery vessel and the AUV is handled to arrive on the deck of the vessel for reconditioning as described in step 1 100.
  • the AUV may also be delivered under the deck of the recovery vessel for the reconditioning (maintenance) phase or in a back deck handling module fixed on the deck. Then, the whole process may be repeated so that the AUVs are constantly reused undersea for the seismic survey.
  • Figure 12 shows an AUV 600 having a CPU 602a that is connected to INS 604 (or compass or altitude sensor and acoustic transmitter for receiving acoustic guidance from the mother vessel), wireless interface 606, pressure gauge 608, transponder 610.
  • the CPU 602a may be located in a high level control block 612.
  • the INS is advantageous when the AUV's trajectory has been changed, for example, because an encounter with an
  • the INS is capable to take the AUV to the desired final position as it does for currents, wave motion, etc.
  • the precision of the INS may be high. For example, it is expected that for a target having a depth of 300 m, the INS is capable to steer the AUV within +/- 5 m of the desired target location.
  • the INS may be configured to receive data from the vessel to increase its accuracy. It is noted that the AUV 600 may reach a depth of 300 m.
  • a CPU 602b in addition to the CPU 602a, is part of a low level control module 614 that is configured to control attitude actuators 616 and the propulsion system 618.
  • One or more batteries 620 may be located in the AUV 600.
  • a seismic payload 622 is located inside the AUV for recording the seismic signals.
  • modules may be added to the AUV.
  • a skirt may be provided around or next to the sensor.
  • a water pump may pump water from the skirt to achieve a suction effect so that a good coupling between the sensor and the seabed is achieved.
  • no skirt is used.
  • FIG. 13 shows an AUV 1300 having a body 1302 with a triangular-like shape.
  • the body may be shaped differently.
  • the body 1302 includes a payload 1304 (e.g., seismic sensors as discussed above) and an acoustic transceiver 1306 that may partially extend outside the body 1302.
  • the acoustic transceiver 1306 is configured to communicate with the vessel and receive acoustic guidance while traveling towards a desired target point.
  • an INS may be used for guidance.
  • Many of the devices discussed in the above embodiments may be present in the body but are neither shown nor discussed with regard to this figure for simplicity.
  • Figure 13 also shows a motor 1308 configured to rotate a propeller 1310 for providing thrust to the AUV 1300.
  • a motor 1308 configured to rotate a propeller 1310 for providing thrust to the AUV 1300.
  • One or more motors and corresponding propellers may be used.
  • the propeller 1310 receive water trough a channel 1312 formed into the body 1302.
  • the channel 1312 has two openings 1312a (intake water element) and 1312b (propulsion nozzle) that communicate with the ambient water.
  • the two openings may be located on the nose, tail or sides of the body 1302.
  • Guidance nozzles or turbines may be provided at a nose 1320 and/or at a tail 1322 of the body 1302 for rotation and/or translation control.
  • the guidance nozzles and the turbines are identified by the same reference numbers and are used interchangeable herein although Figure 13 shows actual turbines.
  • Three guidance nozzles 1320a-c may be located at the nose 1320 and three guidance nozzles 1322a-c may be located at the tail 1322 of the body 1302.
  • the nozzles are connected by piping to corresponding water pumps 1321 . If turbines are used instead of nozzles, no piping and no water pumps are necessary. These water pumps may be used to take in water through various vents (not shown) and guide the water thorough one or more of the guidance nozzles at desired speeds.
  • the water pumps may take in the water at one guidance nozzle and expel the water at the other nozzle or nozzles.
  • the AUV has the capability to adjust the position of its nose with the guidance nozzles (or turbines) 1320a-c and the position of its tail with the guidance nozzles (or turbines) 1322a-c.
  • only the tail nozzles or only the nose nozzles may be implemented.
  • Figure 13 also shows one or more chambers 1340 and 1350 that communicate through piping 1342 and 1352 and vents 1330 with the ambient water so that the chambers may be flooded when desired.
  • a control unit 1360 may instruct the water pump to provide water into one or more of the chambers 1340 and 1350 (to partially or fully flood them) so that a buoyancy of the AUV becomes neutral or negative.
  • the same control unit 1360 can instruct the water pump (or use another mechanism) to discharge the water from the one or more chambers so that the buoyancy of the AUV becomes positive.
  • the control unit 1360 instructs one or more actuators 1370 to fluidly connect the vent 1330 to the flooding chamber for making the buoyancy of the AUV negative.
  • control unit 1360 instructs an accumulator 1372 to provide compressed gas (e.g., air, CO2, etc.) to the flooding chambers to expel the water and then the actuator 1370 seals closed the emptied flooding chambers.
  • compressed gas e.g., air, CO2, etc.
  • the method includes a step 1400 of providing the AUV with a seismic sensor, a step 1402 of launching the AUV into water, a step 1404 of steering the AUV with an inertial navigation and/or acoustic system to a desired seabed location, a step 1406 of recording the seismic data, a step 1408 of returning the AUV on a vessel, and a step 1410 of transferring the seismic data from the AUV to the vessel while on board of the vessel.

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  • Aviation & Aerospace Engineering (AREA)
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  • Environmental & Geological Engineering (AREA)
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Abstract

L'invention concerne un véhicule sous-marin autonome (AUV) (200) permettant d'enregistrer des signaux sismiques au cours d'une prospection sismique marine. Le véhicule AUV comprend un corps (202) ayant une forme se trouvant dans l'alignement ; un élément d'admission d'eau (206) se trouvant sur le corps et configuré pour admettre de l'eau ; au moins une tuyère de propulsion (220, 222) se trouvant sur le corps et configurée pour éjecter l'eau en provenance de l'élément d'admission d'eau à des fins d'actionnement du véhicule AUV ; au moins une tuyère de guidage (208, 210, 212) se trouvant sur le corps et configurée pour éjecter de l'eau afin de changer une direction d'avance du véhicule AUV ; et une charge limite sismique se trouvant sur le corps du véhicule AUV et configurée pour enregistrer des signaux sismiques.
PCT/EP2012/069275 2011-09-30 2012-09-28 Véhicule sous-marin autonome servant à des prospections sismiques marines WO2013045669A1 (fr)

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EP21157449.6A EP3875360A1 (fr) 2011-09-30 2012-09-28 Véhicule sous-marin autonome pour prospections sismiques marines
EP12778058.3A EP2760732B1 (fr) 2011-09-30 2012-09-28 Embarcation sous-marine autonome pour exploration sismique à la mer

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US201161541211P 2011-09-30 2011-09-30
US61/541,211 2011-09-30

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US20130083624A1 (en) 2013-04-04
US20150336646A1 (en) 2015-11-26
EP2760732A1 (fr) 2014-08-06
US9090319B2 (en) 2015-07-28
US9821894B2 (en) 2017-11-21
EP2760732B1 (fr) 2021-02-17
EP3875360A1 (fr) 2021-09-08

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